93 citations · 190 across the 37 of their papers we have counts for
5 papers · 1 filter
Near-Optimal Multi-Robot Motion Planning with Finite Sampling
Dror Dayan, Kiril Solovey, Marco Pavone +1
An underlying structure in several sampling-based methods for continuous multi-robot motion planning (MRMP) is the tensor roadmap (TR), which emerges from combining multiple PRM gr…
Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition
Kiril Solovey, Saptarshi Bandyopadhyay, Federico Rossi +2
Multi-robot systems are uniquely well-suited to performing complex tasks such as patrolling and tracking, information gathering, and pick-up and delivery problems, offering signifi…
Complexity of Planning
Kiril Solovey
This is a chapter in the Encyclopedia of Robotics. It is devoted to the study of complexity of complete (or exact) algorithms for robot motion planning. The term ``complete'' indic…
On Local Computation for Optimization in Multi-Agent Systems
Robin Brown, Federico Rossi, Kiril Solovey +2
A number of prototypical optimization problems in multi-agent systems (e.g., task allocation and network load-sharing) exhibit a highly local structure: that is, each agent's decis…
Multi-Robot Path Planning Using Medial-Axis-Based Pebble-Graph Embedding
Liang He, Zherong Pan, Kiril Solovey +2
We present a centralized algorithm for labeled, disk-shaped Multi-Robot Path Planning (MPP) in a continuous planar workspace with polygonal boundaries. Our method automatically tra…